We made a little demo where we control CM6 robot with leap motion. Leap streams its x,y,z data thru the local network at 125Hz. Raspberry pi that is connected to the CM6 collects that data, unpacks it and does inverse kinematics. The joint angles we get from Ik are commanded to the CM6 via CAN bus.
https://twitter.com/SourceRobotics/status/1816900246397681860